CN208363002U - A kind of low speed automated driving system - Google Patents
A kind of low speed automated driving system Download PDFInfo
- Publication number
- CN208363002U CN208363002U CN201820861793.XU CN201820861793U CN208363002U CN 208363002 U CN208363002 U CN 208363002U CN 201820861793 U CN201820861793 U CN 201820861793U CN 208363002 U CN208363002 U CN 208363002U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- car body
- low speed
- driving system
- automated driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The utility model embodiment is related to a kind of low speed automated driving system, comprising: servomechanism, servomechanism include: laser radar, are set to the top of car body；Two differential GPS antennas, are all set in the top of car body；Multiple ultrasonic radars are respectively arranged at the front end, rear end and two sides of vehicle body；Camera is respectively arranged at the front end, rear end and two sides of vehicle body；Two wheel speed sensors are respectively arranged on two wheels；Decision rule unit is set to the inside of car body；Control unit for vehicle is set to the inside of car body.The utility model is by way of Multi-sensor fusion, realize the Function for Automatic Pilot such as automatic tracking, surrounding enviroment monitoring, obstacle recognition positioning, automatic obstacle avoiding, route planning, and clearing apparatus can be combined, realize in the process of moving can road pavement cleaned, to realize that unmanned automatic driving cleans, environmental sanitation cost is substantially reduced.
Description
Technical field
The utility model relates to low speed unmanned automatic driving vehicular field more particularly to a kind of low speed automated driving systems.
Background technique
With the development of artificial intelligence technology and computer technology, automatic Pilot technology is increasingly mature.Automatic driving vehicle
Traffic resource can be efficiently utilized, alleviates traffic congestion, reduce carbon emission, automatic Pilot technology is quickly grown in recent years, automatically
Driving technology is also hot topic in recent years, but there are also a certain distance away from real commercialization for passenger car automatic Pilot, and is limited
Small-sized low speed Environmental sanitation cleaning vehicle in environment provides specific application scenarios for the landing of automatic Pilot technology.
Although automatic Pilot technology is quickly grown, the specific implementation on passenger car is still seldom, only small-sized in part
It is applied on logistic car, and existing automatic Pilot technology has that perception investigative range is small, and it is big that there are blind areas on vehicle body periphery, it is fixed
Position is inaccurate or without positioning device, poor, higher cost so as to cause safety of vehicle during automatic running to ask
Topic, in addition, there is no case at present for small-sized low speed automatic Pilot Environmental sanitation cleaning vehicle.
Utility model content
The purpose of the utility model is to provide a kind of low speed automated driving systems, by way of Multi-sensor fusion,
Realize the Function for Automatic Pilot such as automatic tracking, surrounding enviroment monitoring, obstacle recognition positioning, automatic obstacle avoiding, route planning, and
Can in conjunction with clearing apparatus, realize in the process of moving can road pavement cleaned, to realize that unmanned automatic driving cleans,
Substantially reduce environmental sanitation cost.
To achieve the above object, the utility model provides a kind of low speed automated driving system, including servomechanism,
The servomechanism includes:
Laser radar is set to the top of the car body, carries out detection perception to the barrier of vehicle periphery and positioning is known
Not；
Two differential GPS antennas, are all set in the top of the car body, detect the location information and body gesture letter of vehicle
Breath；
Multiple ultrasonic radars are respectively arranged at the front end, rear end and two sides of the vehicle body, detect the obstacle around vehicle body
Object；
Camera, is respectively arranged at the front end, rear end and two sides of the vehicle body, monitoring vehicle in the process of running around
Environment, and auxiliary examination is carried out to the data that the laser radar and ultrasonic radar perceive；
Two wheel speed sensors are respectively arranged on two wheels, acquire the velocity information of the wheel；
Decision rule unit is set to the inside of the car body, to the laser radar, differential GPS antenna, ultrasonic wave thunder
Obstacle information and vehicle self information up to camera and the collected vehicle periphery of wheel speed sensors are summarized and are handled,
To plan the driving trace of vehicle；
Control unit for vehicle is set to the inside of the car body, and the traveling of the vehicle is controlled according to the driving trace.
Preferably, the low speed automated driving system includes clearing apparatus, and the clearing apparatus includes:
At least two groups while brush and while brush motor, be respectively arranged at the two sides of vehicle bottom, it is described while brush by it is described while brush electricity
The refuse sweeping of vehicle two sides is focused on vehicle bottom center in vehicular motion by machine driving；
Round brush and round brush motor, are set to the center of the vehicle bottom, and the round brush, will by the round brush motor driven
The refuse sweeping of vehicle bottom is to vehicle interior；
Dust sucting motor is set to the vehicle body, and rubbish is pumped to the filtering dust-collecting box；
Dust-collecting box is filtered, the rear end of car body is set to, filters the dust of the dust sucting motor inspiration, and collect described in storage
Rubbish.
It is further preferred that the low speed automated driving system further includes auxiliary device, the auxiliary device includes: two groups
Clearance lamps and brake lamp；
Wherein, one group of clearance lamps includes two clearance lamps, and clearance lamps is bar shaped, and two groups of clearance lamps are respectively arranged at institute
The two sides for stating car body top show wide and reminding turning for night；The mounting height of two groups of clearance lamps is identical；
The brake lamp is set to the rear end of the car body, and the brake for vehicle prompts.
It is further preferred that it further includes traveling lamp that the auxiliary device, which includes, the traveling lamp is bar shaped, is set to described
The front end of car body, vehicle are illuminated in night running.
It is further preferred that it further includes LED prompting screen that the auxiliary device, which includes, it is set to the front end of the car body, is shown
Show text, graphical information, to prompt the operating status of vehicle to pedestrian.
It is further preferred that it further includes emergency stop device that the auxiliary device, which includes, it is set to the top of the car body, tight
It is out of service that vehicle is controlled in anxious situation, to guarantee vehicle safety.
It is further preferred that it further includes operation control unit that the auxiliary device, which includes, it is set to the rear end of the car body.
It is further preferred that it further includes open-and-close mechanism that the auxiliary device, which includes, it is set to the top of the car body.
Preferably, described two differential GPS antennas are along vehicle body direction longitudinal arrangement.
Preferably, protective cover is arranged in the top of the car body, and described two differential GPS antennas are placed in the protective cover
Interior, the laser radar is set on the protective cover.
Low speed automated driving system provided by the embodiment of the utility model is realized by way of Multi-sensor fusion
The Function for Automatic Pilot such as automatic tracking, surrounding enviroment monitoring, obstacle recognition positioning, automatic obstacle avoiding, route planning, and can
In conjunction with clearing apparatus, realize in the process of moving can road pavement cleaned, to realize that unmanned automatic driving cleans, significantly
Reduce environmental sanitation cost.
Detailed description of the invention
Fig. 1 is the structural block diagram of low speed automated driving system provided by the embodiment of the utility model；
Fig. 2 is one of the structural schematic diagram of low speed automated driving system provided by the embodiment of the utility model；
Fig. 3 is the second structural representation of low speed automated driving system provided by the embodiment of the utility model；
Fig. 4 is the third structural representation of low speed automated driving system provided by the embodiment of the utility model；
Fig. 5 is the four of the structural schematic diagram of low speed automated driving system provided by the embodiment of the utility model；
Fig. 6 is the local perspective view of low speed automated driving system provided by the embodiment of the utility model.
Specific embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Low speed automated driving system provided by the embodiment of the utility model can be applied to a variety of automatic driving vehicles, pass through
The mode of Multi-sensor fusion realizes automatic tracking, surrounding enviroment monitoring, obstacle recognition positioning, automatic obstacle avoiding, route rule
It draws and waits Function for Automatic Pilot.
Fig. 1 is the structural block diagram of low speed automated driving system provided by the embodiment of the utility model, and the system comprises certainly
Dynamic pilot instrument, servomechanism can collect the perception of surrounding enviroment information and vehicle oneself state, and realization is driven automatically
The decision rule sailed calculates and vehicle transverse and longitudinal control function, and then realizes the automatic Pilot of vehicle.Fig. 2-Fig. 5 is that this is practical new
The structural schematic diagram for the low speed automated driving system that type embodiment provides, in conjunction with shown in Fig. 1 to Fig. 5, the servomechanism 1
It include: laser radar 11, differential GPS antenna 12, ultrasonic radar 13, camera 14, wheel speed sensors 15, decision rule unit
16 and control unit for vehicle 17.
Laser radar 11 can be set in the top of car body, for the barrier in 360 ° of larger ranges of vehicle-surroundings
Detection perception and identification positioning are carried out, to provide the information of vehicle-surroundings environment.
Fig. 6 is the local perspective view of low speed automated driving system provided by the embodiment of the utility model, as shown in fig. 6, two
A differential GPS antenna 12, is all set in the top of car body, two differential GPS antennas 12 can it is transversely arranged along vehicle body direction or
Person's longitudinal arrangement, differential GPS antenna 12 are used to detect the location information and body gesture information of vehicle, to guarantee location information
Accuracy, the spacing between two differential GPS antennas 12 are greater than 1 meter.
Further, it can be equipped with protective cover at the top of car body, protective cover is fastened on the top of car body, by two difference
GPS antenna 12 is placed in protective cover, to play a protective role to differential GPS antenna 12, laser radar 11 can be set in
On protective cover, to carry out detection perception and identification positioning to the barrier in vehicle-surroundings larger range.
Multiple ultrasonic radars 13 are respectively arranged at front end (headstock), rear end (tailstock) and the left and right sides of vehicle body, are used for
Detect the barrier in the short range of vehicle body periphery；Ultrasonic radar 13 can there are many arrangement mode, vehicle body front end,
Rear end and two sides can at least install two ultrasonic radars 13 respectively, that is to say, that a vehicle at least installs 8 ultrasonic thunders
It reaches, and is mounted on the position apart from ground certain altitude, to carry out detection identification to the barrier of vehicle body surrounding, expand perception
Investigative range, and then reduce blind area existing for vehicle body periphery.
Camera 14 is respectively arranged at the front end, rear end and two sides of vehicle body, for monitoring vehicle surrounding in the process of running
Environment, and the data perceived to laser radar 11 and ultrasonic radar 13 carry out auxiliary examination.To expand monitoring range, take the photograph
Position, rear end close roof on the upper side and the central position of the front end close roof on the upper side and center that are preferably disposed on vehicle body as first 14
The position with two sides close roof on the upper side and center is set, it is specific as Figure 2-Figure 5.
Two wheel speed sensors 15 are respectively arranged on the wheel of left and right two of vehicle, and the speed for acquiring wheel is believed
Breath guarantees the precision of vehicle transverse and longitudinal control, provides foundation for vehicle location and control and provides accurate foundation.
Again as shown in fig. 6, decision rule unit 16, is set to the inside of car body, respectively with laser radar 11, difference
GPS antenna 12,13 camera 14 of ultrasonic radar are connected with wheel speed sensors 15, for receiving laser radar 11, differential GPS day
The obstacle information and vehicle of the real-time collected vehicle periphery of line 12,13 camera 14 of ultrasonic radar and wheel speed sensors 15
Self information, and above-mentioned received information is carried out to summarize integration and processing calculating, so that the driving trace of vehicle is planned, to vehicle
Driving trace carry out decision rule.
Control unit for vehicle 17 is connected with decision rule unit 16, is set to the inside of car body, for according to driving trace
Control the traveling of vehicle, the specific transverse and longitudinal traveling for controlling vehicle, such as steering and acceleration and deceleration etc..
The servomechanism 1 is in such a way that multiple sensors blend to the environment of vehicle itself and vehicle's surroundings
Real-time monitoring is carried out, and then the environmental monitoring monitoring for unmanned vehicle, obstacle recognition positioning, automatic obstacle-avoiding, route planning etc. are certainly
The dynamic realization for driving function provides detailed data information, and the information that can be got to detection intersects verifying, mentions
The high accuracy of control, guarantees the safety of automatic driving vehicle traveling.The device can be applied to mini motor sweeper, may be used also
With automatic Pilot for other similar small-sized slow-moving vehicle, such as unmanned logistic car, unmanned serving trolley etc..
In addition, the low speed automated driving system that utility model embodiment provides can also include clearing apparatus 2, complete basic
Cleaning and dust suction, again as shown in Figures 1 to 5, clearing apparatus 2 include: at least two groups while brush 21 and while brush motor (in figure not
Show), round brush 22 and round brush motor (not shown), dust sucting motor 23 and filtering dust-collecting box 24.
Two groups while brush 21 and while brush motor, be respectively arranged at the left and right sides of vehicle bottom, while brush 21 by while brush motor drive
It is dynamic, for the refuse sweeping of vehicle two sides to be focused on vehicle bottom center in vehicular motion；Wherein, art technology
Personnel can according to need to be set with the group number of the length opposite side brush 21 of car body and side brush motor, for example, while brush 21 and while brush
Motor can also be four groups, and vehicle bottom is each side arranged two groups.
Round brush 22 and round brush motor are set to the center of vehicle bottom, and round brush 22 is by round brush motor driven, by 21 collection of side brush
In to vehicle bottom refuse sweeping to vehicle interior, to be cleaned to the road surface that vehicle driving is crossed.
Dust sucting motor 23 is set to the inside of car body, is pumped to filtering collection for cleaning round brush 22 to interior rubbish
Dirt box 24.
Dust-collecting box 24 is filtered, the rear end of car body is set to, for filtering the dust of 23 inspiration of dust sucting motor, and collects storage
Rubbish is additionally provided with lid in filtering dust-collecting box 24, and lid is specifically provided with the tailstock, when interior rubbish piles with or needs to clear up interior
Rubbish when, the lid of the tailstock can be opened, rubbish is poured out.
To be further ensured that safety of vehicle during automatic Pilot, low speed automatic Pilot provided in this embodiment system
System further includes auxiliary device 3, for assist clean and Function for Automatic Pilot realization, auxiliary device 3 include: LED prompting screen 31,
Travel 32, two groups of clearance lamps 33 of lamp and brake lamp 34.
Wherein, LED prompting screen 31 is set to the front end of car body, for showing text, graphical information, to mention to pedestrian
Show the operating status of vehicle.
Traveling lamp 32 is bar shaped, is set to the front end of car body, illuminates for vehicle in night running, when vehicle is at night
When driving, traveling lamp 32 can automatically turn on.
One group of clearance lamps 33 includes two clearance lamps 33, and clearance lamps 33 can be bar shaped, and two groups of clearance lamps 33 are respectively set
Mounting height in the two sides of car body top, two groups of clearance lamps 33 is identical, and clearance lamps 33 shows wide and reminding turning for night；Tool
Body, in night running, clearance lamps 33 can be always on or flash vehicle, to guarantee that vehicle can be at night by other vehicles
It observes, guarantees traffic safety.
Brake lamp 34 is set to the tail portion of car body, and the brake for vehicle prompts, and in vehicle brake, brake lamp 34 is automatic
It opens, so that vehicle pays attention to below for prompt.
In a preferred embodiment, auxiliary device 3 is including further including emergency stop device 35, operation control unit 36 and opening-closing machine
Structure 37.
Specifically, emergency stop device 35 is set to the top of car body, emergency stop device can specifically be realized by scram button, be used for
In case of emergency control vehicle is out of service, to guarantee vehicle safety.For example, influencing passerby or other vehicles etc. in vehicle
It is safe when or vehicle itself exist collision etc. emergencies when, vehicle-surroundings personnel can take scram button, and vehicle is immediately
Power-off, parking is awaited orders, to guarantee vehicle safety.
Control unit 36 is runed, the tail portion of car body is set to, for the debugging and the operation in later period control of vehicle early period, is
Protection convenient for operation and to operation control unit 36 runs and is provided with openable and closable control panel lid outside control unit 36,
The button of operation control unit 36 can be operated by opening control panel lid.
Open-and-close mechanism 37, is set to inside roof, and open-and-close mechanism 37 can be understood as a locking structure, works as open-and-close mechanism
37 in opened condition when, the skylight of roof can be opened, and maintenance personal can check and overhaul to the equipment of roof；Work as vehicle
When the skylight on top is closed, open-and-close mechanism 37 is automatic locking, to avoid the opening of the skylight in vehicle operation, guarantees driving peace
Entirely.
On the basis of to the understanding provided by the embodiment of the utility model for low speed automatic Pilot purging system, below again
Shown in secondary combination Fig. 1 and Fig. 6, the operational process of low speed automatic Pilot purging system is described.
During automatic Pilot, servomechanism 1 realizes vehicle to the environmental monitoring monitoring of unmanned vehicle, obstacle recognition
Positioning, automatic obstacle-avoiding and route planning.Specifically, the control unit for vehicle 17 in servomechanism 1 controls multiple sensors
It opens, laser radar 11 carries out detection perception to the barrier in 360 ° of larger ranges of vehicle-surroundings and identification positions, to mention
For the information of vehicle-surroundings environment；Two differential GPS antennas 12 detect the location information and body gesture information of vehicle；It is multiple super
Sound radar 13 detects the barrier in the short range of vehicle body periphery；Camera 14 monitor vehicle in the process of running around
Environment；The velocity information of the acquisition wheel of wheel speed sensors 15；Decision rule unit 16 receives laser radar 11, differential GPS antenna
12, the obstacle information and vehicle of the real-time collected vehicle periphery of ultrasonic radar 13, camera 14 and wheel speed sensors 15
Self information, and above-mentioned received information is carried out to summarize integration and processing calculating, so that the driving trace of vehicle is obtained, to vehicle
Driving trace carry out decision rule；Control unit for vehicle 17 controls the traveling of vehicle according to driving trace.
Meanwhile along the driving trace of automatic driving vehicle, clearing apparatus 2 carries out cleaning and dust suction.Specifically, vehicle control
It is processed to brush 21 when brush motor drives at left and right sides of vehicle bottom, the refuse sweeping of vehicle bottom two sides is focused on into vehicle bottom center；Rolling
Brush motor drives round brush 22, and side brush 21 is focused on the refuse sweeping of vehicle bottom to vehicle interior；Dust sucting motor 23 is by round brush
22 cleanings to interior rubbish is pumped to filtering dust-collecting box 24；Dust-collecting box 24 is filtered, the dust of 23 inspiration of dust sucting motor is filtered, and
Collect storage rubbish.
Further, the auxiliary of auxiliary device 3 cleans the realization with Function for Automatic Pilot.Specifically, LED prompting screen 31 is shown
Text, graphical information, to prompt the operating status of vehicle to pedestrian；In night running, traveling lamp 32 can be held vehicle automatically
It opens, clearance lamps 33 is always on or flashes, to guarantee that vehicle can be observed at night by other vehicles, guarantees traffic safety；?
When vehicle brake, brake lamp 34 is automatically turned on, so that vehicle pays attention to below for prompt.
The low speed automated driving system of the utility model can be disposed at park, campus, megastore, industrial park, large size
Plant area etc. limits scene and substantially reduces environmental sanitation cost instead of manually carrying out cleaning on duty in 24 hours.
Low speed automated driving system provided by the embodiment of the utility model is realized by way of Multi-sensor fusion
The Function for Automatic Pilot such as automatic tracking, surrounding enviroment monitoring, obstacle recognition positioning, automatic obstacle avoiding, route planning, and can
In conjunction with clearing apparatus, realize in the process of moving can road pavement cleaned, to realize that unmanned automatic driving cleans, significantly
Reduce environmental sanitation cost.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of low speed automated driving system, which is characterized in that the low speed automated driving system includes servomechanism, institute
Stating servomechanism includes:
Laser radar is set to the top of car body, carries out detection perception and fixation and recognition to the barrier of vehicle periphery；
Two differential GPS antennas, are all set in the top of the car body, detect the location information and body gesture information of vehicle；
Multiple ultrasonic radars are respectively arranged at the front end, rear end and two sides of the vehicle body, detect the barrier around vehicle body；
Camera is respectively arranged at the front end, rear end and two sides of the vehicle body, the ring of monitoring vehicle in the process of running around
Border, and auxiliary examination is carried out to the data that the laser radar and ultrasonic radar perceive；
Two wheel speed sensors are respectively arranged on two wheels, acquire the velocity information of the wheel；
Decision rule unit is set to the inside of the car body, takes the photograph to the laser radar, differential GPS antenna, ultrasonic radar
As the obstacle information and vehicle self information of head and the collected vehicle periphery of wheel speed sensors are summarized and are handled, thus
Plan the driving trace of vehicle；
Control unit for vehicle is set to the inside of the car body, and the traveling of the vehicle is controlled according to the driving trace.
2. low speed automated driving system according to claim 1, which is characterized in that the low speed automated driving system includes
Clearing apparatus, the clearing apparatus include:
At least two groups while brush and while brush motor, be respectively arranged at the two sides of vehicle bottom, it is described while brush by it is described while brush motor drive
It is dynamic, the refuse sweeping of vehicle two sides is focused on into vehicle bottom center in vehicular motion；
Round brush and round brush motor are set to the center of the vehicle bottom, and the round brush is by the round brush motor driven, by car body
The refuse sweeping of bottom is to vehicle interior；
Dust sucting motor is set to the vehicle body, and rubbish is pumped to filtering dust-collecting box；
The filtering dust-collecting box, is set to the rear end of car body, filters the dust of the dust sucting motor inspiration, and collects described in storage
Rubbish.
3. low speed automated driving system according to claim 1 or 2, which is characterized in that the low speed automated driving system
It further include auxiliary device, the auxiliary device includes: two groups of clearance lamps and brake lamp；
Wherein, one group of clearance lamps includes two clearance lamps, and clearance lamps is bar shaped, and two groups of clearance lamps are respectively arranged at the vehicle
Two sides at the top of body show wide and reminding turning for night；The mounting height of two groups of clearance lamps is identical；
The brake lamp is set to the rear end of the car body, and the brake for vehicle prompts.
4. low speed automated driving system according to claim 3, which is characterized in that the auxiliary device further includes traveling
Lamp, the traveling lamp are bar shaped, are set to the front end of the car body, vehicle is illuminated in night running.
5. low speed automated driving system according to claim 3, which is characterized in that the auxiliary device further includes that LED is mentioned
Display screen is set to the front end of the car body, shows text, graphical information, to prompt the operating status of vehicle to pedestrian.
6. low speed automated driving system according to claim 3, which is characterized in that the auxiliary device further includes emergency stop dress
It sets, is set to the top of the car body, in case of emergency control vehicle is out of service, to guarantee vehicle safety.
7. low speed automated driving system according to claim 3, which is characterized in that the auxiliary device further includes operation control
Unit processed is set to the rear end of the car body.
8. low speed automated driving system according to claim 3, which is characterized in that the auxiliary device further includes opening-closing machine
Structure is set to the top of the car body.
9. low speed automated driving system according to claim 1, which is characterized in that described two differential GPS antennas are along institute
State vehicle body direction longitudinal arrangement.
10. low speed automated driving system according to claim 1, which is characterized in that protection is arranged in the top of the car body
Lid, described two differential GPS antennas are placed in the protective cover, and the laser radar is set on the protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820861793.XU CN208363002U (en) | 2018-06-05 | 2018-06-05 | A kind of low speed automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820861793.XU CN208363002U (en) | 2018-06-05 | 2018-06-05 | A kind of low speed automated driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208363002U true CN208363002U (en) | 2019-01-11 |
Family
ID=64931514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820861793.XU Active CN208363002U (en) | 2018-06-05 | 2018-06-05 | A kind of low speed automated driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208363002U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110111442A (en) * | 2019-06-03 | 2019-08-09 | 湖北南邦创电科技有限公司 | Equipment routing inspection method and inspection device in a kind of region |
| CN110134136A (en) * | 2019-05-29 | 2019-08-16 | 清华大学 | Unmanned motorcycle vision navigation system |
| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN110844500A (en) * | 2019-12-17 | 2020-02-28 | 江苏昱博自动化设备有限公司 | Dual drive AGV dolly |
| CN110924345A (en) * | 2019-12-05 | 2020-03-27 | 武汉理工大学 | Intelligent operation system of pure electric unmanned environmental sanitation cleaning and sweeping vehicle |
| CN111309034A (en) * | 2020-04-17 | 2020-06-19 | 天津清智科技有限公司 | Tracking automatic driving system and control method |
| CN111806435A (en) * | 2020-06-25 | 2020-10-23 | 安徽理工大学 | Automatic tracking control system of low-speed electric vehicle |
| CN111904337A (en) * | 2020-08-12 | 2020-11-10 | 珠海洁西卡新能源扫地车智造科技有限公司 | Collector capable of being driven |
| CN112140895A (en) * | 2019-06-28 | 2020-12-29 | 丰田自动车株式会社 | Roof structure of vehicle |
| CN112684784A (en) * | 2019-10-17 | 2021-04-20 | 武汉小狮科技有限公司 | Low-speed unmanned driving system |
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
| CN114162114A (en) * | 2021-12-07 | 2022-03-11 | 杭州伯镭智能科技有限公司 | Emergency stop control method for automobile unmanned accident |
| CN114281082A (en) * | 2021-12-24 | 2022-04-05 | 安徽南博机器人有限公司 | Unmanned sanitation vehicle |
-
2018
- 2018-06-05 CN CN201820861793.XU patent/CN208363002U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134136A (en) * | 2019-05-29 | 2019-08-16 | 清华大学 | Unmanned motorcycle vision navigation system |
| CN110111442A (en) * | 2019-06-03 | 2019-08-09 | 湖北南邦创电科技有限公司 | Equipment routing inspection method and inspection device in a kind of region |
| CN112140895A (en) * | 2019-06-28 | 2020-12-29 | 丰田自动车株式会社 | Roof structure of vehicle |
| CN110499727A (en) * | 2019-08-14 | 2019-11-26 | 北京智行者科技有限公司 | A kind of welt cleaning method and sweeper based on multisensor |
| CN112684784A (en) * | 2019-10-17 | 2021-04-20 | 武汉小狮科技有限公司 | Low-speed unmanned driving system |
| CN110924345A (en) * | 2019-12-05 | 2020-03-27 | 武汉理工大学 | Intelligent operation system of pure electric unmanned environmental sanitation cleaning and sweeping vehicle |
| CN110844500A (en) * | 2019-12-17 | 2020-02-28 | 江苏昱博自动化设备有限公司 | Dual drive AGV dolly |
| CN110844500B (en) * | 2019-12-17 | 2020-06-16 | 江苏昱博自动化设备有限公司 | Dual drive AGV dolly |
| CN111309034A (en) * | 2020-04-17 | 2020-06-19 | 天津清智科技有限公司 | Tracking automatic driving system and control method |
| CN111806435B (en) * | 2020-06-25 | 2021-12-07 | 安徽理工大学 | Automatic tracking control system of low-speed electric vehicle |
| CN111806435A (en) * | 2020-06-25 | 2020-10-23 | 安徽理工大学 | Automatic tracking control system of low-speed electric vehicle |
| CN111904337A (en) * | 2020-08-12 | 2020-11-10 | 珠海洁西卡新能源扫地车智造科技有限公司 | Collector capable of being driven |
| CN113273499A (en) * | 2021-05-28 | 2021-08-20 | 广东广兴牧业机械设备有限公司 | Intelligent dung cleaning robot in hog house and control system thereof |
| CN114162114A (en) * | 2021-12-07 | 2022-03-11 | 杭州伯镭智能科技有限公司 | Emergency stop control method for automobile unmanned accident |
| CN114162114B (en) * | 2021-12-07 | 2024-03-29 | 上海伯镭智能科技有限公司 | Emergency stop control method for unmanned automobile accident |
| CN114281082A (en) * | 2021-12-24 | 2022-04-05 | 安徽南博机器人有限公司 | Unmanned sanitation vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208363002U (en) | A kind of low speed automated driving system | |
| CN108570955A (en) | A kind of intelligence purging system | |
| CN106251701B (en) | Vehicle rearview monitor and alarm system and method based on rotation zoom multi-cam | |
| CN206568169U (en) | A kind of city piping lane crusing robot | |
| CN107329466A (en) | A kind of automatic Pilot compact car | |
| CN108831170A (en) | A kind of wisdom formula highway crusing robot, shared system and business model | |
| CN105291984A (en) | Pedestrian and vehicle detecting method and system based on multi-vehicle cooperation | |
| CN202563344U (en) | Magnetic navigation and routing inspection robot | |
| CN102541064A (en) | Magnetic navigation routing inspection robot | |
| CN108086214A (en) | A kind of outdoor sweeping robot | |
| CN101293529A (en) | Intelligent monitoring and early warning system for passenger transportation ability and operation safety of vehicle mounted rail traffic | |
| CN101016052A (en) | Warning method and system for preventing deviation for vehicle on high standard highway | |
| CN101908272A (en) | Traffic safety sensing network based on mobile information | |
| CN206938471U (en) | Unmanned refuse cleaning vehicle | |
| CN208521183U (en) | A kind of Unmanned Systems of sanitation cart | |
| CN109204604B (en) | A kind of Intelligent Mobile Robot aiding overpass obstacle system and method | |
| CN108932872A (en) | A kind of method of long-range control vehicle early warning | |
| CN107776491A (en) | Pilotless automobile | |
| CN114655260A (en) | Control system of unmanned tourist coach | |
| CN212148809U (en) | Automatic actuating element and vehicle of driving system | |
| CN211906081U (en) | Unmanned small-sized sweeping machine control system based on path tracking | |
| CN107472775A (en) | A kind of automatic tracking loop defends the method for cleaning and unmanned electric garbage clearing and transporting vehicle | |
| CN112684784A (en) | Low-speed unmanned driving system | |
| CN212294476U (en) | Unmanned small-sized sweeping machine | |
| CN110286678A (en) | A kind of auto-navigation purging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |